{
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  {
   "cell_type": "code",
   "execution_count": 64,
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   "outputs": [],
   "source": [
    "# Dependencies\n",
    "import numpy as np\n",
    "import pandas as pd\n",
    "import seaborn as sns\n",
    "import warnings\n",
    "import matplotlib as mpl\n",
    "import matplotlib.pyplot as plt\n",
    "import datetime\n",
    "\n",
    "sns.set(\"notebook\", font_scale=1.05, rc={\"figure.figsize\": (10, 5)})\n",
    "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n",
    "%config InlineBackend.figure_format = 'svg'\n",
    "warnings.filterwarnings(\"ignore\")\n",
    "plt.set_loglevel(\"WARNING\")\n",
    "mpl.rcParams[\"lines.markersize\"] = 8\n",
    "\n",
    "# generate datetime string\n",
    "now = datetime.datetime.now()\n",
    "now_str = now.strftime(\"%m_%d_%H_%M\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 101,
   "metadata": {},
   "outputs": [],
   "source": [
    "WINDOW_SIZE = 120\n",
    "\n",
    "\n",
    "df = pd.read_csv(\"/home/emerge/daphne/gpudrive/examples/benchmarks/dataframes/finetuning/goal_wallclock.csv\")\n",
    "df2 = pd.read_csv(\"/home/emerge/daphne/gpudrive/examples/benchmarks/dataframes/finetuning/offroad_wallclock.csv\")\n",
    "df3 = pd.read_csv(\"/home/emerge/daphne/gpudrive/examples/benchmarks/dataframes/finetuning/collision_wallclock.csv\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 35,
   "metadata": {},
   "outputs": [],
   "source": [
    "wallclock_time = df['performance/uptime'].rolling(window=WINDOW_SIZE).mean().dropna().values[:X_LIMIT]\n",
    "perc_goal_achieved = df['finetune - metrics/perc_goal_achieved'].rolling(window=WINDOW_SIZE).mean().dropna().values[:X_LIMIT] *100\n",
    "\n",
    "perc_offroad = df2['finetune - metrics/perc_off_road'].rolling(window=WINDOW_SIZE).mean().dropna().values[:X_LIMIT] *100\n",
    "perc_collided = df3['finetune - metrics/perc_veh_collisions'].rolling(window=WINDOW_SIZE).mean().dropna().values[:X_LIMIT] * 100\n",
    "\n",
    "\n",
    "wallclock_time = wallclock_time / 60"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 62,
   "metadata": {},
   "outputs": [
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   "source": [
    "fig, ax = plt.subplots(1, 1, figsize=(5, 4))\n",
    "ax.plot(wallclock_time, perc_goal_achieved, label=\"Goal achieved [%]\", linewidth=2)\n",
    "ax.plot(wallclock_time, perc_collided, label=\"Collided [%]\", color='r', linewidth=2)\n",
    "ax.plot(wallclock_time, perc_offroad, label=\"Offroad [%]\", color='orange', linewidth=2)\n",
    "ax.grid(axis='y', linestyle='-', color='lightgrey', alpha=0.3)\n",
    "ax.set_xlabel(\"Wallclock time (minutes)\")\n",
    "ax.set_ylabel(\"Performance\")\n",
    "ax.set_xlim([0, 15])\n",
    "ax.legend(loc=\"upper left\", fontsize=10, facecolor=\"white\", framealpha=1)\n",
    "sns.despine()\n",
    "\n",
    "plt.savefig(f'finetuning_backwards_driving.pdf', bbox_inches='tight', format='pdf')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Log "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 115,
   "metadata": {},
   "outputs": [],
   "source": [
    "df_ga_wallclock = pd.read_csv(\"/home/emerge/daphne/gpudrive/examples/benchmarks/dataframes/finetuning/reward.csv\")\n",
    "df_rew_step = pd.read_csv(\"/home/emerge/daphne/gpudrive/examples/benchmarks/dataframes/finetuning/goal_achieved.csv\")\n",
    "df_offroad = pd.read_csv(\"/home/emerge/daphne/gpudrive/examples/benchmarks/dataframes/finetuning/offroad.csv\")\n",
    "df_collided = pd.read_csv(\"/home/emerge/daphne/gpudrive/examples/benchmarks/dataframes/finetuning/collided.csv\")\n",
    "\n",
    "wallclock_time = df_ga_wallclock['performance/uptime'].rolling(window=WINDOW_SIZE).mean().dropna().values / 60 / 60\n",
    "global_step = df_rew_step['global_step'].rolling(window=WINDOW_SIZE).mean().dropna().values\n",
    "\n",
    "reward_over_time = df_rew_step['PPO__R_10000__01_23_21_02_58_770 - metrics/mean_episode_reward_per_agent'].rolling(window=WINDOW_SIZE).mean().dropna().values\n",
    "goal_achieved = df_ga_wallclock['PPO__R_10000__01_23_21_02_58_770 - metrics/perc_goal_achieved'].rolling(window=WINDOW_SIZE).mean().dropna().values * 100\n",
    "offroad = df_offroad['PPO__R_10000__01_23_21_02_58_770 - metrics/perc_off_road'].rolling(window=WINDOW_SIZE).mean().dropna().values * 100\n",
    "collided = df_collided['PPO__R_10000__01_23_21_02_58_770 - metrics/perc_veh_collisions'].rolling(window=WINDOW_SIZE).mean().dropna().values * 100"
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  },
  {
   "cell_type": "code",
   "execution_count": 153,
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   ],
   "source": [
    "fig, axs = plt.subplots(1, 3, figsize=(12, 3.5))\n",
    "axs[0].plot(global_step, goal_achieved, color='b', linewidth=2)\n",
    "axs[0].grid(True, color='lightgrey', alpha=0.3)\n",
    "axs[0].set_xlabel(\"Global step\", labelpad=10)\n",
    "axs[0].set_ylabel(\"Goal achieved [%]\")\n",
    "axs[0].set_yscale('log')\n",
    "axs[0].set_xscale('log')\n",
    "axs[0].set_xlim([3e8, 1e9])\n",
    "axs[0].set_ylim([97, 100])\n",
    "plt.gca().yaxis.set_major_formatter(FuncFormatter(format_func))\n",
    "\n",
    "axs[1].plot(global_step, offroad, color='orange', linewidth=2)\n",
    "axs[1].grid(True, color='lightgrey', alpha=0.3)\n",
    "axs[1].set_xlabel(\"Global step\", labelpad=10)\n",
    "axs[1].set_ylabel(\"Off-road [%]\")\n",
    "axs[1].set_yscale('log')\n",
    "axs[1].set_xscale('log')\n",
    "axs[1].set_xlim([3e8, 1e9])\n",
    "\n",
    "\n",
    "axs[2].plot(global_step, collided, color='r', linewidth=2)\n",
    "axs[2].grid(True, color='lightgrey', alpha=0.3)\n",
    "axs[2].set_xlabel(\"Global step\", labelpad=10)\n",
    "axs[2].set_ylabel(\"Collided [%]\")\n",
    "axs[2].set_yscale('log')\n",
    "axs[2].set_xscale('log')\n",
    "axs[2].set_xlim([3e8, 1e9])\n",
    "axs[2].set_ylim([2, 4])\n",
    "\n",
    "sns.despine()\n",
    "plt.tight_layout()\n",
    "plt.savefig(f'loglog_train_performance.pdf', bbox_inches='tight', format='pdf')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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